Patella tracking

Abstract

A method of intraoperatively tracking a patella of a knee of a patient. The method can include percutaneously attaching a tracking assembly to the patella, tracking the tracking assembly as the knee is moved through a range of motion; making an incision to open a joint capsule of the knee, everting the patella, reconfiguring the tracking assembly to reorient the tracking elements relative to the patella, and intraoperatively collecting data associated with the patella. The tracking assembly can be configured to use electromagnetic or optical tracking modalities.

1 . A method of intraoperatively tracking a patella of a knee of a patient, the method comprising:
 percutaneously attaching a tracking assembly to the patella, the tracking assembly comprising one or more tracking elements that are configured to be tracked by a tracking system, wherein the tracking assembly is configured to be converted between a first configuration wherein the one or more tracking elements are in a first pose and a second configuration wherein the one or more tracking elements are in a second pose that differs from the first pose;   tracking, via the tracking system, the tracking assembly as the knee is moved through a range of motion;   making an incision to open a joint capsule of the knee;   everting the patella;   reconfiguring the tracking assembly from the first configuration to the second configuration to reorient the tracking elements relative to the patella; and   intraoperatively collecting data associated with the patella.   
     
     
         2 . The method of  claim 1 , wherein the tracking assembly comprises a rotatable joint that is configured to allow the tracking assembly to be converted from the first configuration to the second configuration. 
     
     
         3 . The method of  claim 1 , wherein the tracking assembly is configured to be percutaneously affixed to the patella via a single fastener. 
     
     
         4 . The method of  claim 1 , wherein the tracking assembly is configured to be percutaneously affixed to the patella via two or more fasteners. 
     
     
         5 . The method of  claim 1 , wherein the tracking assembly is configured to be percutaneously affixed to the patella via a squeeze clamp attachment. 
     
     
         6 . The method of  claim 1 , wherein the first pose and the second pose have a known relationship with respect to each other. 
     
     
         7 . The method of  claim 1 , wherein the tracking assembly can comprise an electromagnetic tracking assembly or an optical tracking assembly. 
     
     
         8 . The method of  claim 1 , wherein the intraoperatively collected data comprises a patellar surface or a patellar shape of the patella relative to the tracking assembly attached thereto. 
     
     
         9 . The method of  claim 8 , further comprising:
 determining movement of the patellar surface or the patellar shape relative to one or more other bones of the patient.   
     
     
         10 . The method of  claim 9 , further comprising:
 determining, using the determined movement of the patellar surface or the patellar shape relative to the one or more other bones, a surgical place to replace a surface of the one or more other bones or the patellar surface.   
     
     
         11 . The method of  claim 1 , wherein the tracking assembly weights from about 1 ounce to about 4 ounces. 
     
     
         12 . The method of  claim 1 , wherein the tracking assembly is percutaneously affixed to the patella using a robotic arm. 
     
     
         13 . The method of  claim 1 , further comprising:
 determining a change to a surgical plan for the knee of the patient based on the intraoperatively collected data.   
     
     
         14 . The method of  claim 13 , wherein a surgical computer system determines the change to the surgical plan. 
     
     
         15 . The method of  claim 13 , wherein the change to the surgical plan comprises an alteration to a target model for the knee of the patient. 
     
     
         16 . The method of  claim 13 , wherein reconfiguring the tracking assembly comprises reorient the one or more tracking elements relative to the patella or the tracking system. 
     
     
         17 . The method of  claim 13 , wherein reconfiguring the tracking assembly comprises folding the tracking assembly such that the one or more tracking elements transition from the first pose to the second pose. 
     
     
         18 . The method of  claim 13 , wherein the tracking assembly is configured to reconfigure automatically or via electromechanical control. 
     
     
         19 . The method of  claim 13 , wherein the tracking assembly is configured to be reconfigured manually.